CUIK++: An Extension of Branch-and-Prune Techniques for Motion Analysis and Synthesis of Complex Robotic Systems

Project Overview

The CUIK project develops relaxation and higher-dimensional continuation techniques for the
motion analysis of closed-chain multi-body systems. We develop techniques to isolate the valid configurations, to determine the motion range of the whole multi-body system or of some of its parts, to detect singular configurations
leading to control or dexterity issues, or to find collision- and singularity-free paths between given configurations, all of them fundamental aspects in the robot design and programming stages.
Our developments finds applications in robotics (direct and inverse kinematics of serial/parallel robots, cooperative
manipulation, closed-chain motion planning, and SLAM), structural biology (conformational analysis of biomolecules), multibody kinematics (initial position and finite displacement problems), and
computer-aided design (variational CAD and assembly positioning).